Determination of the wrench-closure workspace of 6-DOF parallel cable-driven mechanisms

DOI10.1007/978-1-4020-4941-5_34MaRDI QIDQ3196248zbMATH OpenOpenAlexFDO

Authors Marc Gouttefarde, David Daney, Jean-Pierre Merlet

Publication date 29 October 2015

Published in Advances in Robot Kinematics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/978-1-4020-4941-5_34

zbMATH Keywords

workspaceparallel mechanismcable-driven mechanismGough-Stewart platformwrench-closure

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Robot dynamics and control of rigid bodies (70E60)

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Cited in

(11)

• Geometry and kinematics for a spherical-base integrated parallel mechanism
• Force-closure workspace analysis of cable-driven parallel mechanisms
• Planning of dynamically feasible trajectories for translational, planar, and underconstrained cable-driven robots
• Analysis of simplified position and 5-DOF total orientation workspaces of a hexapod mechanism
• Design and workspace analysis of a 6--6 cable-suspended parallel robot
• Symmetrical characteristics of the workspace for spatial parallel mechanisms with symmetric structure
• On the determination of the force distribution in overconstrained cable-driven parallel mechanisms
• A generic force-closure analysis algorithm for cable-driven parallel manipulators
• The significance of adopted Lagrange's principle of virtual work used for modeling aerial robots
• A review of computation of mathematically rigorous bounds on optima of linear programs
• A method of verifying force-closure condition for general cable manipulators with seven cables

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